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<title>par_kinematics: ArmModel Class Reference</title>
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Project: <a href="http://ros.org/wiki/par_kinematics">par_kinematics</a>
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License: BSD
</p>
<p>
Dependencies: 
<ul>
  <li>std_msgs</li>
  <li>roscpp</li>
  <li>par_trajectory_planning</li>
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Used by:
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<h1>ArmModel Class Reference</h1>  </div>
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<!-- doxytag: class="ArmModel" -->
<p><code>#include &lt;<a class="el" href="armmodel_8h_source.html">armmodel.h</a>&gt;</code></p>

<p><a href="classArmModel-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArmModel.html#a442413d8223d30a804c38784bac0af3a">ArmModel</a> (double <a class="el" href="classArmModel.html#a6901a15b221d275ce26a659bfeee7a8d">angle</a>, double hip, double ankle, double <a class="el" href="classArmModel.html#a465bd0a8945f7509114240a7af0906c0">base</a>, double <a class="el" href="classArmModel.html#aa26d9b7ae909db4dbef4de004f95e4e2">effector</a>)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArmModel.html#a92773479e178e6f090e77fc19df2cd85">ArmModel</a> (const <a class="el" href="classArmModel.html">ArmModel</a> &amp;p)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArmModel.html#a8b0321e28d01ac19423d028756b39606">moveto</a> (double xg, double yg, double zg)</td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArmModel.html#aadaa6904d92741aa270a1cf8c3ecb9c4">a</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classPoint.html">Point</a> *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArmModel.html#ac03d09b8aa4abf5987275c2093ac8caf">ab</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArmModel.html#a3e469a0741f6e29e6b11950df601c9c0">alpha</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArmModel.html#a6901a15b221d275ce26a659bfeee7a8d">angle</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArmModel.html#a4145e8c786a08caa40b37c926d57fb48">ankleAngle</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArmModel.html#a6b8b7868576b967376eb4c99a7f3f8ce">b</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArmModel.html#a465bd0a8945f7509114240a7af0906c0">base</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArmModel.html#ae03cad3fb0cdae2de17b71e2e8af6229">beta</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArmModel.html#a4d1b74b7b6f8e0ecf56fa56e3fc34aa3">c</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArmModel.html#aa26d9b7ae909db4dbef4de004f95e4e2">effector</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classPoint.html">Point</a> *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArmModel.html#a79e2dad57d7d2982b159a89961a54535">g</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArmModel.html#a62c37ad0350bc177c9c008ac8fcbb875">pangle</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArmModel.html#a6135ea3cb1411df7dddd40f43c2c6fc5">rho</a></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>

<p>Definition at line <a class="el" href="armmodel_8h_source.html#l00016">16</a> of file <a class="el" href="armmodel_8h_source.html">armmodel.h</a>.</p>
<hr/><h2>Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a442413d8223d30a804c38784bac0af3a"></a><!-- doxytag: member="ArmModel::ArmModel" ref="a442413d8223d30a804c38784bac0af3a" args="(double angle, double hip, double ankle, double base, double effector)" -->
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          <td class="memname">ArmModel::ArmModel </td>
          <td>(</td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>angle</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>hip</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>ankle</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>base</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>effector</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Author: W. van Teijlingen &lt;<a href="mailto:wouter.vanteijlingen@student.hu.nl">wouter.vanteijlingen@student.hu.nl</a>&gt;</p>
<p>This code is based on <a href="http://sensi.org/~svo/dbot/applet/">http://sensi.org/~svo/dbot/applet/</a> by Viacheslav Slavinsky. </p>

<p>Definition at line <a class="el" href="armmodel_8cpp_source.html#l00009">9</a> of file <a class="el" href="armmodel_8cpp_source.html">armmodel.cpp</a>.</p>

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<a class="anchor" id="a92773479e178e6f090e77fc19df2cd85"></a><!-- doxytag: member="ArmModel::ArmModel" ref="a92773479e178e6f090e77fc19df2cd85" args="(const ArmModel &amp;p)" -->
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          <td class="memname">ArmModel::ArmModel </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classArmModel.html">ArmModel</a> &amp;&nbsp;</td>
          <td class="paramname"> <em>p</em></td>
          <td>&nbsp;)&nbsp;</td>
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<p>Definition at line <a class="el" href="armmodel_8cpp_source.html#l00019">19</a> of file <a class="el" href="armmodel_8cpp_source.html">armmodel.cpp</a>.</p>

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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a8b0321e28d01ac19423d028756b39606"></a><!-- doxytag: member="ArmModel::moveto" ref="a8b0321e28d01ac19423d028756b39606" args="(double xg, double yg, double zg)" -->
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          <td class="memname">double ArmModel::moveto </td>
          <td>(</td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>xg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>yg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>zg</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td></td>
        </tr>
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<div class="memdoc">

<p>Definition at line <a class="el" href="armmodel_8cpp_source.html#l00036">36</a> of file <a class="el" href="armmodel_8cpp_source.html">armmodel.cpp</a>.</p>

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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="aadaa6904d92741aa270a1cf8c3ecb9c4"></a><!-- doxytag: member="ArmModel::a" ref="aadaa6904d92741aa270a1cf8c3ecb9c4" args="" -->
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          <td class="memname">double <a class="el" href="classArmModel.html#aadaa6904d92741aa270a1cf8c3ecb9c4">ArmModel::a</a></td>
        </tr>
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<div class="memdoc">

<p>Definition at line <a class="el" href="armmodel_8h_source.html#l00020">20</a> of file <a class="el" href="armmodel_8h_source.html">armmodel.h</a>.</p>

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<a class="anchor" id="ac03d09b8aa4abf5987275c2093ac8caf"></a><!-- doxytag: member="ArmModel::ab" ref="ac03d09b8aa4abf5987275c2093ac8caf" args="" -->
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          <td class="memname"><a class="el" href="classPoint.html">Point</a>* <a class="el" href="classArmModel.html#ac03d09b8aa4abf5987275c2093ac8caf">ArmModel::ab</a></td>
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<div class="memdoc">

<p>Definition at line <a class="el" href="armmodel_8h_source.html#l00023">23</a> of file <a class="el" href="armmodel_8h_source.html">armmodel.h</a>.</p>

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<a class="anchor" id="a3e469a0741f6e29e6b11950df601c9c0"></a><!-- doxytag: member="ArmModel::alpha" ref="a3e469a0741f6e29e6b11950df601c9c0" args="" -->
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          <td class="memname">float <a class="el" href="classArmModel.html#a3e469a0741f6e29e6b11950df601c9c0">ArmModel::alpha</a></td>
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<div class="memdoc">

<p>Definition at line <a class="el" href="armmodel_8h_source.html#l00019">19</a> of file <a class="el" href="armmodel_8h_source.html">armmodel.h</a>.</p>

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<a class="anchor" id="a6901a15b221d275ce26a659bfeee7a8d"></a><!-- doxytag: member="ArmModel::angle" ref="a6901a15b221d275ce26a659bfeee7a8d" args="" -->
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          <td class="memname">double <a class="el" href="classArmModel.html#a6901a15b221d275ce26a659bfeee7a8d">ArmModel::angle</a></td>
        </tr>
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<div class="memdoc">

<p>Definition at line <a class="el" href="armmodel_8h_source.html#l00027">27</a> of file <a class="el" href="armmodel_8h_source.html">armmodel.h</a>.</p>

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<a class="anchor" id="a4145e8c786a08caa40b37c926d57fb48"></a><!-- doxytag: member="ArmModel::ankleAngle" ref="a4145e8c786a08caa40b37c926d57fb48" args="" -->
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          <td class="memname">double <a class="el" href="classArmModel.html#a4145e8c786a08caa40b37c926d57fb48">ArmModel::ankleAngle</a></td>
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<div class="memdoc">

<p>Definition at line <a class="el" href="armmodel_8h_source.html#l00032">32</a> of file <a class="el" href="armmodel_8h_source.html">armmodel.h</a>.</p>

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<a class="anchor" id="a6b8b7868576b967376eb4c99a7f3f8ce"></a><!-- doxytag: member="ArmModel::b" ref="a6b8b7868576b967376eb4c99a7f3f8ce" args="" -->
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          <td class="memname">double <a class="el" href="classArmModel.html#a6b8b7868576b967376eb4c99a7f3f8ce">ArmModel::b</a></td>
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<p>Definition at line <a class="el" href="armmodel_8h_source.html#l00020">20</a> of file <a class="el" href="armmodel_8h_source.html">armmodel.h</a>.</p>

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<a class="anchor" id="a465bd0a8945f7509114240a7af0906c0"></a><!-- doxytag: member="ArmModel::base" ref="a465bd0a8945f7509114240a7af0906c0" args="" -->
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          <td class="memname">double <a class="el" href="classArmModel.html#a465bd0a8945f7509114240a7af0906c0">ArmModel::base</a></td>
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<p>Definition at line <a class="el" href="armmodel_8h_source.html#l00025">25</a> of file <a class="el" href="armmodel_8h_source.html">armmodel.h</a>.</p>

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<a class="anchor" id="ae03cad3fb0cdae2de17b71e2e8af6229"></a><!-- doxytag: member="ArmModel::beta" ref="ae03cad3fb0cdae2de17b71e2e8af6229" args="" -->
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          <td class="memname">float <a class="el" href="classArmModel.html#ae03cad3fb0cdae2de17b71e2e8af6229">ArmModel::beta</a></td>
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<p>Definition at line <a class="el" href="armmodel_8h_source.html#l00019">19</a> of file <a class="el" href="armmodel_8h_source.html">armmodel.h</a>.</p>

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<a class="anchor" id="a4d1b74b7b6f8e0ecf56fa56e3fc34aa3"></a><!-- doxytag: member="ArmModel::c" ref="a4d1b74b7b6f8e0ecf56fa56e3fc34aa3" args="" -->
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          <td class="memname">double <a class="el" href="classArmModel.html#a4d1b74b7b6f8e0ecf56fa56e3fc34aa3">ArmModel::c</a></td>
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<p>Definition at line <a class="el" href="armmodel_8h_source.html#l00021">21</a> of file <a class="el" href="armmodel_8h_source.html">armmodel.h</a>.</p>

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<a class="anchor" id="aa26d9b7ae909db4dbef4de004f95e4e2"></a><!-- doxytag: member="ArmModel::effector" ref="aa26d9b7ae909db4dbef4de004f95e4e2" args="" -->
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          <td class="memname">double <a class="el" href="classArmModel.html#aa26d9b7ae909db4dbef4de004f95e4e2">ArmModel::effector</a></td>
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<p>Definition at line <a class="el" href="armmodel_8h_source.html#l00026">26</a> of file <a class="el" href="armmodel_8h_source.html">armmodel.h</a>.</p>

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<a class="anchor" id="a79e2dad57d7d2982b159a89961a54535"></a><!-- doxytag: member="ArmModel::g" ref="a79e2dad57d7d2982b159a89961a54535" args="" -->
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          <td class="memname"><a class="el" href="classPoint.html">Point</a>* <a class="el" href="classArmModel.html#a79e2dad57d7d2982b159a89961a54535">ArmModel::g</a></td>
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<p>Definition at line <a class="el" href="armmodel_8h_source.html#l00029">29</a> of file <a class="el" href="armmodel_8h_source.html">armmodel.h</a>.</p>

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<a class="anchor" id="a62c37ad0350bc177c9c008ac8fcbb875"></a><!-- doxytag: member="ArmModel::pangle" ref="a62c37ad0350bc177c9c008ac8fcbb875" args="" -->
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          <td class="memname">double <a class="el" href="classArmModel.html#a62c37ad0350bc177c9c008ac8fcbb875">ArmModel::pangle</a></td>
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<p>Definition at line <a class="el" href="armmodel_8h_source.html#l00031">31</a> of file <a class="el" href="armmodel_8h_source.html">armmodel.h</a>.</p>

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<a class="anchor" id="a6135ea3cb1411df7dddd40f43c2c6fc5"></a><!-- doxytag: member="ArmModel::rho" ref="a6135ea3cb1411df7dddd40f43c2c6fc5" args="" -->
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          <td class="memname">float <a class="el" href="classArmModel.html#a6135ea3cb1411df7dddd40f43c2c6fc5">ArmModel::rho</a></td>
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<p>Definition at line <a class="el" href="armmodel_8h_source.html#l00019">19</a> of file <a class="el" href="armmodel_8h_source.html">armmodel.h</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/home/wouter/ros_packages/thp-pj2-08/par_kinematics/include/par_kinematics/<a class="el" href="armmodel_8h_source.html">armmodel.h</a></li>
<li>/home/wouter/ros_packages/thp-pj2-08/par_kinematics/src/<a class="el" href="armmodel_8cpp_source.html">armmodel.cpp</a></li>
</ul>
</div>
</td></tr></table>

<hr size="1"><div style="align: right;">
<a href="http://ros.org/wiki/par_kinematics">par_kinematics</a><br />
Author(s): Wouter van Teijlingen</br />
<small>autogenerated on Mon Jun 13 2011 17:06:55</small>
</div>
</body>
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